Use ros2_control_cmake (#753)

* Use ros2_control_cmake

* Update repos

* Fix compiler errors

* Fix more conversion errors

* Fix warning: extra ‘;’ [-Wpedantic]

* Fix more conversion errors

* conversion from ‘int’ to ‘uint16_t’ {aka ‘short unsigned int’} may change value [-Werror=conversion]

* Fix several compiler errors

* Fix error: declaration of ‘actuator_interface’ shadows a previous local [-Werror=shadow]

Author: christophfroehlich

example_1/CMakeLists.txt

@@ -1,12 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(ros2_control_demo_example_1 LANGUAGES CXX)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
-endif()
-
-# set the same behavior for windows as it is on linux
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

example_1/hardware/include/ros2_control_demo_example_1/rrbot.hpp

@@ -32,7 +32,7 @@ namespace ros2_control_demo_example_1
 class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterface
 {
 public:
-  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
+  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware)
 
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;

example_1/package.xml

@@ -15,6 +15,7 @@
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>backward_ros</depend>
   <depend>hardware_interface</depend>

example_10/CMakeLists.txt

@@ -1,12 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(ros2_control_demo_example_10 LANGUAGES CXX)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
-endif()
-
-# set the same behavior for windows as it is on linux
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

example_10/hardware/include/ros2_control_demo_example_10/rrbot.hpp

@@ -32,7 +32,7 @@ namespace ros2_control_demo_example_10
 class RRBotSystemWithGPIOHardware : public hardware_interface::SystemInterface
 {
 public:
-  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemWithGPIOHardware);
+  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemWithGPIOHardware)
 
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;

example_10/hardware/rrbot.cpp

@@ -194,11 +194,11 @@ hardware_interface::return_type RRBotSystemWithGPIOHardware::read(
   }
 
   // random inputs analog_input1 and analog_input2
-  unsigned int seed = time(NULL) + 1;
+  unsigned int seed = static_cast<unsigned int>(time(NULL)) + 1;
   set_state(
     info_.gpios[0].name + "/" + info_.gpios[0].state_interfaces[1].name,
     static_cast<float>(rand_r(&seed)));
-  seed = time(NULL) + 2;
+  seed = static_cast<unsigned int>(time(NULL)) + 2;
   set_state(
     info_.gpios[0].name + "/" + info_.gpios[0].state_interfaces[2].name,
     static_cast<float>(rand_r(&seed)));

example_10/package.xml

@@ -15,6 +15,7 @@
   <author email="[email protected]">Christoph Froehlich</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>backward_ros</depend>
   <depend>hardware_interface</depend>

example_11/CMakeLists.txt

@@ -1,12 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(ros2_control_demo_example_11 LANGUAGES CXX)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
-endif()
-
-# set the same behavior for windows as it is on linux
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
 
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS

example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp

@@ -58,7 +58,7 @@ struct Joint
 class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
 {
 public:
-  RCLCPP_SHARED_PTR_DEFINITIONS(CarlikeBotSystemHardware);
+  RCLCPP_SHARED_PTR_DEFINITIONS(CarlikeBotSystemHardware)
 
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;

example_11/package.xml

@@ -15,6 +15,7 @@
   <author email="[email protected]">Reza Kermani</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>ros2_control_cmake</build_depend>
 
   <depend>backward_ros</depend>
   <depend>hardware_interface</depend>